The content of the invention
The purpose of the application is to propose for the method for controlling unmanned vehicle, device and server, to solve the above back of the bodyThe technical problem that scape technology segment is mentioned.
In a first aspect, this application provides a kind of method for controlling unmanned vehicle, this method includes：When monitoring tunnelWhen, obtain the tunnel information in above-mentioned tunnel；The entry position of above-mentioned unmanned vehicle is determined by positioning signal and above-mentioned tunnel information；Above-mentioned entry position is set to original position, following monitoring step is performed：Monitor the above-mentioned unmanned vehicle of original position with it is above-mentionedThe range information of the inwall in tunnel；The current driving speed information of above-mentioned unmanned vehicle and transmits information are obtained, and by upperState driving speed information, transmits information and original position and calculate vehicle line of the above-mentioned unmanned vehicle in above-mentioned tunnel；It is logicalAbove-mentioned tunnel information, vehicle line and range information are crossed, the current location of above-mentioned unmanned vehicle is determined；If in above-mentioned current positionThe range information detected is beyond given threshold and can receive positioning signal, then determines above-mentioned unmanned vehicle by positioning signalCurrent location information；If the range information detected in above-mentioned current position is in above-mentioned given threshold, based on above-mentionedCurrent location controls above-mentioned unmanned vehicle to be travelled in above-mentioned tunnel, and above-mentioned current location is set into original position, continues to holdThe above-mentioned monitoring step of row.
In certain embodiments, above-mentioned tunnel information includes the map in tunnel and the three-dimensional system of coordinate in tunnel；And, pass throughPositioning signal and above-mentioned tunnel information determine that the entry position of above-mentioned unmanned vehicle includes：Above-mentioned nothing is determined by above-mentioned positioning signalThe three-dimensional coordinate that three-dimensional coordinate of people's car in above-mentioned tunnel is fastened, passes through position of the above-mentioned three-dimensional coordinate on the map in above-mentioned tunnelPut and determine unmanned vehicle into entry position during tunnel.
In certain embodiments, calculated above by above-mentioned driving speed information, transmits information and original positionStating vehicle line of the unmanned vehicle in above-mentioned tunnel includes：Based on above-mentioned driving speed information and transmits information, in calculatingState the prediction travel speed and prediction travel direction of unmanned vehicle；Determine to set according to above-mentioned prediction travel speed and prediction travel directionFix time Prediction distance of the interior above-mentioned unmanned vehicle on the map in above-mentioned tunnel；Calculated by original position and above-mentioned Prediction distanceVehicle line of the above-mentioned unmanned vehicle in above-mentioned tunnel.
In certain embodiments, it is above-mentioned to be based on above-mentioned driving speed information and transmits information, calculate above-mentioned unmanned vehiclePrediction travel speed and prediction travel direction include：Above-mentioned driving speed information and the sample of transmits information are gathered respectivelyInformation obtains travel speed sample information and travel direction sample information；According to above-mentioned travel speed sample information and travel directionSample information calculates the prediction travel speed and prediction travel direction at setting moment.
In certain embodiments, above-mentioned unmanned vehicle is calculated in above-mentioned tunnel above by original position and above-mentioned Prediction distanceInterior vehicle line includes：Predicted position is calculated according to original position and Prediction distance；Original position and predicted position are carried outFitting obtains vehicle line.
In certain embodiments, above-mentioned tunnel information also includes length of tunnel information and tunnel width information；And, it is above-mentionedBy above-mentioned tunnel information, vehicle line and range information, determining the current location of above-mentioned unmanned vehicle includes：Pass through above-mentioned distanceInformation is corrected to vehicle line, true by the vehicle line after above-mentioned length of tunnel information, tunnel width information and correctionThe current location of fixed above-mentioned unmanned vehicle.
Second aspect, this application provides a kind of device for being used to control unmanned vehicle, said apparatus includes：Tunnel information is obtainedUnit is taken, for when monitoring tunnel, obtaining the tunnel information in above-mentioned tunnel；Entry position determining unit, for by fixedPosition signal and above-mentioned tunnel information determine the entry position of above-mentioned unmanned vehicle；Execution unit, for above-mentioned entry position to be setFor original position, following monitoring step is performed：The distance for monitoring the above-mentioned unmanned vehicle of original position and the inwall in above-mentioned tunnel is believedBreath；The current driving speed information of above-mentioned unmanned vehicle and transmits information are obtained, and passes through above-mentioned driving speed information, travelingDirectional information and original position calculate vehicle line of the above-mentioned unmanned vehicle in above-mentioned tunnel；Pass through above-mentioned tunnel information, travelingCircuit and range information, determine the current location of above-mentioned unmanned vehicle；If the range information detected in above-mentioned current position surpassesGo out given threshold and positioning signal can be received, then the current location information of above-mentioned unmanned vehicle is determined by positioning signal；ControlUnit, during for the range information that is detected in above-mentioned current position in above-mentioned given threshold, then based on above-mentioned present bitPut the above-mentioned unmanned vehicle of control to travel in above-mentioned tunnel, and above-mentioned current location is set to original position, continue executing with above-mentionedMonitoring step.
In certain embodiments, above-mentioned tunnel information includes the map in tunnel and the three-dimensional system of coordinate in tunnel；And, entrancePosition determination unit also includes：Three-dimensional coordinate of the above-mentioned unmanned vehicle in above-mentioned tunnel is fastened three are determined by above-mentioned positioning signalDimension coordinate, entrance position when determining that unmanned vehicle enters tunnel by position of the above-mentioned three-dimensional coordinate on the map in above-mentioned tunnelPut.
In certain embodiments, above-mentioned execution unit includes：Information of forecasting computation subunit, for based on above-mentioned traveling speedInformation and transmits information are spent, the prediction travel speed and prediction travel direction of above-mentioned unmanned vehicle is calculated；Prediction distance is determinedSubelement, for determining that above-mentioned unmanned vehicle is in above-mentioned tunnel in setting time according to above-mentioned prediction travel speed and prediction travel directionPrediction distance on the map in road；Vehicle line computation subunit, for being calculated by original position and above-mentioned Prediction distanceState vehicle line of the unmanned vehicle in above-mentioned tunnel.
In certain embodiments, above-mentioned information of forecasting computation subunit includes：Sample information acquisition module, for adopting respectivelyThe sample information for collecting above-mentioned driving speed information and transmits information obtains travel speed sample information and travel direction sampleInformation；Information of forecasting computing module, sets for being calculated according to above-mentioned travel speed sample information and travel direction sample informationThe prediction travel speed and prediction travel direction at moment.
In certain embodiments, above-mentioned vehicle line computation subunit includes：Predicted position computing module, rises for basisBeginning position and Prediction distance calculate predicted position；Fitting module, is gone for being fitted to original position and predicted positionSail circuit.
In certain embodiments, above-mentioned tunnel information also includes length of tunnel information and tunnel width information；And, it is above-mentionedExecution unit includes：Vehicle line is corrected by above-mentioned range information, passes through above-mentioned length of tunnel information, tunnel widthVehicle line after information and correction determines the current location of above-mentioned unmanned vehicle.
The third aspect, this application provides a kind of server, including：One or more processors；Memory, for storingOne or more programs, when said one or multiple programs are by said one or multiple computing devices so that said oneOr the method for controlling unmanned vehicle of multiple above-mentioned first aspects of computing device.
Fourth aspect, this application provides a kind of computer-readable recording medium, is stored thereon with computer program, and it is specialLevy and be, the program realizes the method for controlling unmanned vehicle of above-mentioned first aspect when being executed by processor.
Method, device and the server for controlling unmanned vehicle that the application is provided, when monitoring tunnel, obtain tunnelInformation, and determine the entry position of unmanned vehicle.Afterwards, using entry position as original position, circulation performs monitoring step so thatUnmanned vehicle can determine nobody according to the range information, driving speed information and transmits information of unmanned vehicle and the inwall in tunnelVehicle line of the car in tunnel, and then determine current location of the unmanned vehicle in tunnel, to realize in no positioning signalIn the case of unmanned vehicle is accurately positioned.Unmanned vehicle is controlled based on current location so that unmanned vehicle is in no positioning letterAlso can automatic running in the case of number.
Embodiment
The application is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouchedThe specific embodiment stated is used only for explaining related invention, rather than the restriction to the invention.It also should be noted that, in order toBe easy to description, illustrate only in accompanying drawing to about the related part of invention.
It should be noted that in the case where not conflicting, the feature in embodiment and embodiment in the application can phaseMutually combination.Describe the application in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
Fig. 1 is shown can be using the method for being used to control unmanned vehicle of the application or the device for controlling unmanned vehicleThe exemplary system architecture 100 of embodiment.
As shown in figure 1, system architecture 100 can include automatic driving vehicle 101,102,103 and location equipment 104.
Automatic driving vehicle 101,102,103 may search for location equipment 104, and receive the positioning letter of location equipment 104Number.Various positioning devices and sensor can be installed, such as GPS devices, distance are passed on automatic driving vehicle 101,102,103Sensor etc..
Automatic driving vehicle 101,102,103 can be various with multiple data acquisition units and data processing unitVehicle, including but not limited to electric automobile, oil electricity hybrid vehicle and internal-combustion engines vehicle etc..
Location equipment 104 can be to provide the equipment of positioning signal, for example, receive automatic driving vehicle 101,102,103 and send outThe request of the acquisition gps signal come, determines the gps signal of automatic driving vehicle 101,102,103 according to the request, and to nobodyDrive vehicle 101,102,103 and send gps signal, so that automatic driving vehicle 101,102,103 is determined according to gps signalPosition.
It should be noted that the embodiment of the present application provided be used for control the method for unmanned vehicle can be by automatic driving car101,102,103 individually perform, or can also jointly be held by automatic driving vehicle 101,102,103 and location equipment 104OK.Generally, the method for controlling unmanned vehicle is performed by automatic driving vehicle 101,102,103.Correspondingly, for controllingThe device of unmanned vehicle processed can be arranged in automatic driving vehicle 101,102,103.
It should be understood that the number of the automatic driving vehicle and location equipment in Fig. 1 is only schematical.According to realizing needWill, can have any number of automatic driving vehicle and location equipment.
With continued reference to Fig. 2, the flow for being used to control one embodiment of the method for unmanned vehicle according to the application is shown200.This is used for the method for controlling unmanned vehicle, comprises the following steps：
Step 201, when monitoring tunnel, the tunnel information in above-mentioned tunnel is obtained.
In the present embodiment, the method for controlling unmanned vehicle runs electronic equipment (such as nothing shown in Fig. 1 thereonPeople drives vehicle (i.e. unmanned vehicle) 101,102,103) tunnel can be obtained by wired connection mode or radio connectionInformation.Wherein, tunnel information can include information, the coordinate information in tunnel of tunnel on the electronic map etc..
Automatic driving vehicle 101,102,103 can get electronic map, and the GPS sent according to location equipment 104Signal determines 101,102,103 position on the electronic map of automatic driving vehicle, so control automatic driving vehicle 101,102nd, 103 automatic running.
The gps signal that location equipment 104 is sent needs automatic driving vehicle 101,102,103 to be connect in the case of outdoorReceive.Automatic driving vehicle 101,102,103 traveling under the running environment that tunnel etc. can not receive gps signal when, it is necessary to according toThe characteristic of running environment itself controls the automatic running of automatic driving vehicle 101,102,103.When monitoring on the electronic mapDuring tunnel, tunnel information can be got by electronic map first.
Step 202, the entry position of above-mentioned unmanned vehicle is determined by positioning signal and above-mentioned tunnel information.
Automatic driving vehicle 101,102,103 can determine nobody before tunnel is entered by gps signal and tunnel informationDrive the entry position that vehicle 101,102,103 enters tunnel.For example, tunnel includes two tracks in opposite direction, and GPS believesNumber can determine that automatic driving vehicle 101,102,103 enters the direction in tunnel, then can determine automatic driving vehicle 101,102nd, entry position during 103 entrance tunnel.Entry position can also enter tunnel in automatic driving vehicle 101,102,103Moment determines that the precision of obtained entry position is also higher.
In some optional implementations of the present embodiment, the three of map and tunnel of the above-mentioned tunnel information including tunnelDimension coordinate system；And, the entry position for determining above-mentioned unmanned vehicle by positioning signal and above-mentioned tunnel information can include：Pass throughAbove-mentioned positioning signal determines the three-dimensional coordinate that three-dimensional coordinate of the above-mentioned unmanned vehicle in above-mentioned tunnel is fastened, and passes through above-mentioned three-dimensional coordinatePosition on the map in above-mentioned tunnel determines entry position when people's car enters tunnel.
Tunnel information can include the map in tunnel and the three-dimensional system of coordinate in tunnel.Wherein, the map in tunnel can includeShape information of lane information, tunnel in tunnel etc.；The three-dimensional system of coordinate in tunnel is used to determine the three-dimensional seat that certain is put in tunnelMark, so that automatic driving vehicle 101,102,103 is positioned on the map in tunnel.Three-dimensional system of coordinate can be that the three-dimensional world is satMark system.
Whether can receive gps signal as standard, the map on tube map and electronic map in addition to tunnel can be withIt is considered as two class maps.Automatic driving vehicle 101,102,103 enter tunnel when, it is believed that automatic driving vehicle 101,102,103 enter another kind of map from a class map.
Gps signal can be determined on 101,102,103 electronic map when not entering into tunnel of automatic driving vehiclePosition；The three-dimensional system of coordinate in tunnel can determine automatic driving vehicle according to the gps signal of automatic driving vehicle 101,102,103101st, 102,103 three-dimensional coordinate in three-dimensional system of coordinate.Afterwards, sat by automatic driving vehicle 101,102,103 in three-dimensionalPosition of the three-dimensional coordinate on the map in tunnel in mark system can determine that automatic driving vehicle 101,102,103 is entering tunnelWhen entry position.Entry position may be considered the crossing on above-mentioned two classes map of automatic driving vehicle 101,102,103Point.
Step 203, above-mentioned entry position is set to original position, performs following monitoring step：Monitor original positionThe range information of above-mentioned unmanned vehicle and the inwall in above-mentioned tunnel；Obtain the current driving speed information of above-mentioned unmanned vehicle and traveling sideAbove-mentioned unmanned vehicle is calculated in above-mentioned tunnel to information, and by above-mentioned driving speed information, transmits information and original positionInterior vehicle line；By above-mentioned tunnel information, vehicle line and range information, the current location of above-mentioned unmanned vehicle is determined；IfThe range information detected in above-mentioned current position is beyond given threshold and can receive positioning signal, then is believed by positioningNumber determine the current location information of above-mentioned unmanned vehicle.
After automatic driving vehicle 101,102,103 and then tunnel, it is impossible to receive the gps signal that location equipment 104 is sent.ThisWhen, it is necessary to determine the position of automatic driving vehicle 101,102,103 by the various sensors of automatic driving vehicle 101,102,103Put.Sensor is mainly used in measurement distance information, integrating tunnel information, it may be determined that automatic driving vehicle 101,102,103 existsPosition in tunnel.Because tunnel is without the index such as unified width, height, circuit, and no gps signal is as drawingLead, so, entry position can be set to original position.By sensor, automatic driving vehicle 101,102,103 can beThe range information of automatic driving vehicle 101,102,103 and tunnel inner wall is obtained in tunnel in real time, and according to automatic driving vehicle101st, 102,103 current driving speed information and transmits information, calculates the row of automatic driving vehicle 101,102,103Sail circuit.In conjunction with tunnel information, the current location of unmanned vehicle is determined.Then detect that nobody drives again on the basis of current locationThe range information of vehicle 101,102,103 and the inwall in tunnel is sailed, until it is determined that the current location of next unmanned vehicle.
Generally, the change of the distance between tunnel inner wall is little, the distance letter that automatic driving vehicle 101,102,103 is measuredBreath is also not in anomalous variation.If detecting range information occurs in that anomalous variation, typically there are bend or nothing in tunnelPeople drives vehicle 101,102,103 and has rolled tunnel away from.In order to avoid automatic driving vehicle 101,102,103 roll away from behind tunnel again it is tightThe situation of adjacent slype, for the sake of insurance, can also to check now receive gps signal.If not detecting GPS lettersNumber, then illustrate automatic driving vehicle 101,102,103 still in tunnel, simply the distance between tunnel inner wall is changed(corner such as in tunnel)；If detecting gps signal, now automatic driving vehicle 101,102,103 may be sailedTunnel is gone out.At this moment, it is possible to the current location information of unmanned vehicle is determined by gps signal.Wherein, above-mentioned given thresholdSpecific value is depending on actual conditions.
In some optional implementations of the present embodiment, believe above by above-mentioned driving speed information, travel directionBreath and original position calculate vehicle line of the above-mentioned unmanned vehicle in above-mentioned tunnel and may comprise steps of：
The first step, based on above-mentioned driving speed information and transmits information, calculates the prediction traveling speed of above-mentioned unmanned vehicleDegree and prediction travel direction.
Under normal circumstances, in the process of moving, travel speed and travel direction are or not automatic driving vehicle 101,102,103Can suddenly change.Corresponding, driving speed information and transmits information will not also change too big.It therefore, it can according to currentDriving speed information and transmits information calculate prediction travel speed in certain time and prediction travel direction.PredictionTravel speed and prediction travel direction can be tried to achieve by methods such as forecast Control Algorithms, no longer be repeated one by one herein.
Second step, determines that above-mentioned unmanned vehicle is upper in setting time according to above-mentioned prediction travel speed and prediction travel directionState the Prediction distance on the map in tunnel.
When calculating prediction travel speed and prediction travel direction, it is assumed that prediction travel speed and prediction travel direction are not sent outChanging.Therefore, it can to set multiple time points in setting time, corresponding one group of prediction travel speed of each time point andTravel direction is predicted, 101,102,103 Prediction distance on tube map of automatic driving vehicle is also just can determine that.
3rd step, driving line of the above-mentioned unmanned vehicle in above-mentioned tunnel is calculated by original position and above-mentioned Prediction distanceRoad.
Obtain after Prediction distance, with reference to original position and prediction travel direction can determine automatic driving vehicle 101,102,103 vehicle line in tunnel.
It is above-mentioned to be believed based on above-mentioned driving speed information and travel direction in some optional implementations of the present embodimentBreath, the prediction travel speed and prediction travel direction for calculating above-mentioned unmanned vehicle may comprise steps of：
The first step, the sample information that above-mentioned driving speed information and transmits information are gathered respectively obtains travel speed sampleThis information and travel direction sample information.
During traveling, when the driving speed information and transmits information of automatic driving vehicle 101,102,103 haveBetween attribute.For example, driving speed information and transmits information can be by the coordinate systems of time shaft and speed axle structureCurve represent.Setting direction is identified on each point of curve, in this way, each point on this curve just has 3 variables：Time, speed and direction.Also driving speed information and transmits information are identified by two coordinate systems respectively, or usedOther modes record driving speed information and transmits information, no longer repeat one by one herein.
The gathered data on this curve, can obtain travel speed sample information and traveling side at a certain time intervalTo sample information.
Second step, the prediction row for setting the moment is calculated according to above-mentioned travel speed sample information and travel direction sample informationSail speed and prediction travel direction.
Get after travel speed sample information and travel direction sample information, pass through travel speed sample information and travelingDirection sample information determines the variation tendency of travel speed and travel direction.For example, above-mentioned by time shaft and speed axle structureIn the coordinate system built, above-mentioned curve is entered according to travel speed sample information and the respective variation tendency of travel direction sample informationRow extension, can obtain prediction travel speed and predict travel direction.Set in prediction travel speed and prediction travel directionAt time point, it can obtain setting the prediction travel speed and prediction travel direction at moment.
In some optional implementations of the present embodiment, calculated above by original position and above-mentioned Prediction distanceVehicle line of the unmanned vehicle in above-mentioned tunnel is stated to may comprise steps of：
The first step, predicted position is calculated according to original position and Prediction distance.
Obtain after Prediction distance, based on prediction travel direction and original position, can calculate and obtain predicted position.For example,Prediction distance is 10 meters, using original position as origin, and 10 meters are that radius can obtain a circle.Afterwards, by predicting traveling sideTo that can determine a point on this circle, this point is exactly predicted position.
Second step, is fitted to original position and predicted position and obtains vehicle line.
In practice, travel speed sample information and travel direction sample information are typically multiple, can be obtained accordinglyMultiple predicted positions.Original position and predicted position are connected to the broken line that can obtain being made up of a plurality of line segment.FoldingLine is used for the variation tendency for characterizing each prediction travel speed and prediction travel direction.It therefore, it can be fitted the broken line,By segmented fitting into a smooth curve, i.e. vehicle line.
In some optional implementations of the present embodiment, above-mentioned tunnel information can also include length of tunnel information andTunnel width information；And, above by above-mentioned tunnel information, vehicle line and range information, determine working as above-mentioned unmanned vehicleFront position can include：Vehicle line is corrected by above-mentioned range information；Afterwards, then by above-mentioned length of tunnel believeVehicle line after breath, tunnel width information and correction determines the current location of above-mentioned unmanned vehicle.
And 101,102,103 vehicle line in tunnel of automatic driving vehicle obtained above is to be based on automatic driving car101,102,103 history driving information is obtained, and is the anticipation made based on history driving information.But the lane in tunnelRoad can be straight way or bend, can also be the joint line of straight way and bend.If considering further that traffic lights and peopleThe factors such as trade, depend merely on 101,102,103 vehicle line in tunnel of automatic driving vehicle to automatic driving vehicle 101,102nd, 103 it is controlled and larger error easily occur.
Therefore, obtain after 101,102,103 vehicle line in tunnel of automatic driving vehicle, in addition it is also necessary to the driving lineRoad is corrected.The tunnel information of the application can also include length of tunnel information and tunnel width information.First by nobodyThe distance between vehicle 101,102,103 and the inwall in tunnel information is driven to be corrected vehicle line.For example, unmannedVehicle 101,102,103 is travelled on straight way, and there is bend in front, and vehicle line now is the history traveling letter based on straight wayWhat breath was obtained.If directly advanced according to vehicle line, necessarily there is the mistake control to automatic driving vehicle 101,102,103System.It therefore, it can be corrected vehicle line by above-mentioned range information.For example, being travelled when by range information determinationWhen the distance between the inwall in circuit and tunnel is more than setting value, it is believed that automatic driving vehicle 101,102,103 is from tunnelInwall it is remote enough；Otherwise, then it is assumed that automatic driving vehicle 101,102,103 is too near from the inwall in tunnel.Based on range informationVehicle line is corrected so that inwall of the vehicle line away from tunnel.
Qualitative correction by range information to vehicle line correction simply to vehicle line.In order to improve to vehicle lineCorrection accuracy, vehicle line can further be corrected by length of tunnel information and tunnel width information.For example,The length in a certain straight way section in tunnel is 600 meters, and width is 20 meters.The length in a bend section afterwards is 100 meters,Width is 20 meters.Then automatic driving vehicle 101,102,103 by the straight way sections of road to bend section when, detect away fromIt will be changed from information, and automatic driving vehicle 101,102,103 is known that by the length information in straight way sectionTo enter bend section at once.Now, vehicle line by range information after being corrected, then the length and width for passing through bend sectionDegree is modified to vehicle line so that vehicle line meets the traffic route of bend.Finally further according to vehicle line nowDetermine the current location of automatic driving vehicle 101,102,103.
Step 204, if the range information detected in above-mentioned current position is in above-mentioned given threshold, based on above-mentionedCurrent location controls above-mentioned unmanned vehicle to be travelled in above-mentioned tunnel, and above-mentioned current location is set into original position, continues to holdThe above-mentioned monitoring step of row.
If detecting range information in current location in given threshold, illustrate automatic driving vehicle 101,102,103Also in tunnel.At this point it is possible to control automatic driving vehicle 101,102,103 in tunnel according to current location and vehicle lineTraveling.
Seen from the above description, automatic driving vehicle 101,102,103 needs real-time detecting distance information in tunnel, obtainedTo vehicle line, and then automatic driving vehicle 101,102,103 is controlled to be travelled in tunnel.Accordingly, vehicle line is also notDisconnected change.That is, automatic driving vehicle 101,102,103 is needed in tunnel according to above-mentioned range information, tunnel information, OKSail the current location that velocity information, transmits information and vehicle line etc. determine automatic driving vehicle 101,102,103.This isOne constantly circulates the process for performing above-mentioned detecting step, and current location will be re-set as original position by circulation every time,Again using original position as starting point, next current location is finally obtained.
With continued reference to Fig. 3 a, Fig. 3 a are one that is used to control the application scenarios of the method for unmanned vehicle according to the present embodimentSchematic diagram.In Fig. 3 a application scenarios, automatic driving vehicle enters behind tunnel, is passed by two (can also be multiple) distanceSensor detects the distance between the both sides inwall in automatic driving vehicle and tunnel information.It should be noted that detecting distance informationWhen, the angle between the measurement direction of range sensor and the travel direction of automatic driving vehicle is respectively θ1And θ2, and θ1And θ2For acute angle (anticipation can not be made to the circuit in front of automatic driving vehicle under right angle context, also can not just determine vehicle line),Obtain two range information s of the inwall in automatic driving vehicle and tunnel1And s2.Pass through θ1、θ2、s1And s2It can determine in travelingUnder direction, the distance between the inwall in automatic driving vehicle and tunnel d1And d2.Consider the driving speed information of automatic driving vehicleThe vehicle line obtained with transmits information is as shown in Figure 3 b.Due to the range information s on straight way1And s2Change settingThreshold value, can now determine the current location of automatic driving vehicle by vehicle line.
Fig. 4 a are another schematic diagrames for being used to control the application scenarios of the method for unmanned vehicle according to the present embodiment.Fig. 4 aIt is the automatic running schematic diagram that automatic driving vehicle is entered bend by straight way.From Fig. 4 a, before bend is introduced into, distance is passedThe range information s that sensor is measured2Change is very big, beyond given threshold.But range information s1Without departing from given threshold, explanationRange information s2The side at place is likely to occur bend, obtain apart from d1And d2As shown in fig. 4 a.Worked as based on automatic driving vehicleThe vehicle line that preceding driving speed information and transmits information is obtained.Due to range information s2Beyond given threshold, ifGps signal can not be now received, then automatic driving vehicle is still in tunnel.Need by apart from d1And d2To now obtainingVehicle line be corrected.The mode of correction can be to range information s by vehicle line2The side skew at place.
Afterwards, length of tunnel information and tunnel width information are considered further that, determines that 600 meters long, 20 meters of wide straight ways will be tiedBeam, next section is 100 meters long, 20 meters of wide bends.Consider range information s1Without departing from given threshold, distance can be passed throughInformation s1It is corresponding apart from d1The current location of automatic driving vehicle is determined with road width.Nobody is controlled to drive based on current locationVehicle is sailed to travel in tunnel.
If above-mentioned range information s2Gps signal can be received during beyond given threshold, illustrates automatic driving vehicle nowHave run out tunnel, range information s2Beyond given threshold be as tunnel outside bend caused by.At this point it is possible to directly pass throughGps signal determines the current location of automatic driving vehicle, and based on current location control automatic driving vehicle traveling.
Enter situation about coming off into the straightaway and the side of the current location of above-mentioned determination automatic driving vehicle in bend and by bendMethod is similar, no longer repeats one by one herein.
The method for controlling unmanned vehicle that above-described embodiment of the application is provided, when monitoring tunnel, obtains tunnelInformation, and determine the entry position of unmanned vehicle.Afterwards, using entry position as original position, circulation performs monitoring step so thatUnmanned vehicle can determine nobody according to the range information, driving speed information and transmits information of unmanned vehicle and the inwall in tunnelVehicle line of the car in tunnel, and then determine current location of the unmanned vehicle in tunnel, to realize in the feelings without gps signalUnmanned vehicle is accurately positioned under condition.Unmanned vehicle is controlled based on current location so that unmanned vehicle is in no gps signalIn the case of also can automatic running.
With further reference to Fig. 5, as the realization to method shown in above-mentioned each figure, it is used to control nothing this application provides one kindOne embodiment of the device of people's car, the device embodiment is corresponding with the embodiment of the method shown in Fig. 2, and the device specifically can be withApplied in various electronic equipments.
As shown in figure 5, the present embodiment be used for control the device 500 of unmanned vehicle to include：Tunnel information acquiring unit 501,Entry position determining unit 502, execution unit 503 and control unit 504.Wherein, tunnel information acquiring unit 501 is used in prisonWhen measuring tunnel, the tunnel information in above-mentioned tunnel is obtained；Entry position determining unit 502 is used to pass through positioning signal and above-mentioned tunnelRoad information determines the entry position of above-mentioned unmanned vehicle；Execution unit 503 is used to above-mentioned entry position being set to original position, holdsThe following monitoring step of row：Monitor the range information of the above-mentioned unmanned vehicle of original position and the inwall in above-mentioned tunnel；Obtain above-mentioned nothingThe current driving speed information of people's car and transmits information, and by above-mentioned driving speed information, transmits information and riseVehicle line of the above-mentioned unmanned vehicle of beginning position calculating in above-mentioned tunnel；By above-mentioned tunnel information, vehicle line and apart from letterBreath, determines the current location of above-mentioned unmanned vehicle；If the range information detected in above-mentioned current position beyond given threshold andPositioning signal can be received, then the current location information of above-mentioned unmanned vehicle is determined by positioning signal；Control unit 504 is used forWhen the range information that above-mentioned current position is detected is in above-mentioned given threshold, then above-mentioned nothing is controlled based on above-mentioned current locationPeople's car is travelled in above-mentioned tunnel, and above-mentioned current location is set into original position, continues executing with above-mentioned monitoring step.
In some optional implementations of the present embodiment, the three of map and tunnel of the above-mentioned tunnel information including tunnelDimension coordinate system；And, entry position determining unit 502 can also include：Determine that above-mentioned unmanned vehicle exists by above-mentioned positioning signalThe three-dimensional coordinate that the three-dimensional coordinate in above-mentioned tunnel is fastened, is determined by position of the above-mentioned three-dimensional coordinate on the map in above-mentioned tunnelUnmanned vehicle enters entry position during tunnel.
In some optional implementations of the present embodiment, above-mentioned execution unit 503 can include：Information of forecasting is calculatedSubelement (not shown), Prediction distance determination subelement (not shown) and vehicle line computation subunit are (in figure notShow).Wherein, information of forecasting computation subunit is used to be based on above-mentioned driving speed information and transmits information, calculates above-mentionedThe prediction travel speed and prediction travel direction of unmanned vehicle；Prediction distance determination subelement is used for according to above-mentioned prediction travel speedPrediction distance of the above-mentioned unmanned vehicle on the map in above-mentioned tunnel in setting time is determined with prediction travel direction；Vehicle line meterOperator unit is used to calculate vehicle line of the above-mentioned unmanned vehicle in above-mentioned tunnel by original position and above-mentioned Prediction distance.
In some optional implementations of the present embodiment, above-mentioned information of forecasting computation subunit can include：SampleData obtaining module (not shown) and information of forecasting computing module (not shown).Wherein, sample information acquisition moduleTravel speed sample information and row are obtained for gathering the sample information of above-mentioned driving speed information and transmits information respectivelySail direction sample information；Information of forecasting computing module is used for according to above-mentioned travel speed sample information and travel direction sample informationCalculate the prediction travel speed and prediction travel direction at setting moment.
In some optional implementations of the present embodiment, above-mentioned vehicle line computation subunit can include：PredictionPosition computation module (not shown) and fitting module (not shown).Wherein, predicted position computing module is used for basisOriginal position and Prediction distance calculate predicted position；Fitting module is used to be fitted original position and predicted position to be goneSail circuit.
In some optional implementations of the present embodiment, above-mentioned tunnel information also includes length of tunnel information and tunnelWidth information；And, above-mentioned execution unit includes：Vehicle line is corrected by above-mentioned range information, passes through above-mentioned tunnelVehicle line after road length information, tunnel width information and correction determines the current location of above-mentioned unmanned vehicle.
Below with reference to Fig. 6, it illustrates suitable for for the computer system 600 for the terminal device for realizing the embodiment of the present applicationStructural representation.Terminal device shown in Fig. 6 is only an example, to the function of the embodiment of the present application and should not use modelShroud carrys out any limitation.
As shown in fig. 6, computer system 600 includes CPU (CPU) 601, it can be read-only according to being stored inProgram in memory (ROM) 602 or be loaded into program in random access storage device (RAM) 603 from storage part 608 andPerform various appropriate actions and processing.In RAM 603, the system that is also stored with 600 operates required various programs and data.CPU 601, ROM 602 and RAM 603 are connected with each other by bus 604.Input/output (I/O) interface 605 is also connected to alwaysLine 604.
I/O interfaces 605 are connected to lower component：Importation 606 including keyboard, mouse etc.；Including such as liquid crystalShow the output par, c 607 of device (LCD) etc. and loudspeaker etc.；Storage part 608 including hard disk etc.；And including such as LANThe communications portion 609 of the NIC of card, modem etc..Communications portion 609 is performed via the network of such as internetCommunication process.Driver 610 is also according to needing to be connected to I/O interfaces 605.Detachable media 611, such as disk, CD, magneto-opticDisk, semiconductor memory etc., are arranged on driver 610, in order to the computer program root read from it as neededPart 608 is stored according to needing to be mounted into.
Especially, in accordance with an embodiment of the present disclosure, the process described above with reference to flow chart may be implemented as computerSoftware program.For example, embodiment of the disclosure includes a kind of computer program product, it includes being carried on computer-readable mediumOn computer program, the computer program include be used for execution flow chart shown in method program code.In such realityApply in example, the computer program can be downloaded and installed by communications portion 609 from network, and/or from detachable media611 are mounted.When the computer program is performed by CPU (CPU) 601, perform what is limited in the present processesAbove-mentioned functions.
It should be noted that the above-mentioned computer-readable medium of the application can be computer-readable signal media or meterCalculation machine readable storage medium storing program for executing either the two any combination.Computer-readable recording medium for example can be --- but notBe limited to --- electricity, magnetic, optical, electromagnetic, system, device or the device of infrared ray or semiconductor, or it is any more than combination.MeterThe more specifically example of calculation machine readable storage medium storing program for executing can include but is not limited to：Electrical connection with one or more wires, justTake formula computer disk, hard disk, random access storage device (RAM), read-only storage (ROM), erasable type and may be programmed read-only storageDevice (EPROM or flash memory), optical fiber, portable compact disc read-only storage (CD-ROM), light storage device, magnetic memory device,Or above-mentioned any appropriate combination.In this application, computer-readable recording medium can any include or store journeyThe tangible medium of sequence, the program can be commanded execution system, device or device and use or in connection.And at thisIn application, computer-readable signal media can be included in a base band or as the data-signal of carrier wave part propagation,Wherein carry computer-readable program code.The data-signal of this propagation can take various forms, including but not limitIn electromagnetic signal, optical signal or above-mentioned any appropriate combination.Computer-readable signal media can also be that computer canAny computer-readable medium beyond storage medium is read, the computer-readable medium, which can send, propagates or transmit, to be used forUsed by instruction execution system, device or device or program in connection.Included on computer-readable mediumProgram code can be transmitted with any appropriate medium, be included but is not limited to：Wirelessly, electric wire, optical cable, RF etc., or above-mentionedAny appropriate combination.
Flow chart and block diagram in accompanying drawing, it is illustrated that according to the system of the various embodiments of the application, method and computer journeyArchitectural framework in the cards, function and the operation of sequence product.At this point, each square frame in flow chart or block diagram can generationThe part of one module of table, program segment or code, the part of the module, program segment or code is used comprising one or moreIn the executable instruction for realizing defined logic function.It should also be noted that in some realizations as replacement, being marked in square frameThe function of note can also be with different from the order marked in accompanying drawing generation.For example, two square frames succeedingly represented are actuallyIt can perform substantially in parallel, they can also be performed in the opposite order sometimes, this is depending on involved function.Also to noteMeaning, the combination of each square frame in block diagram and/or flow chart and the square frame in block diagram and/or flow chart can be with holdingThe special hardware based system of function or operation as defined in row is realized, or can use specialized hardware and computer instructionCombination realize.
Being described in unit involved in the embodiment of the present application can be realized by way of software, can also be by hardThe mode of part is realized.Described unit can also be set within a processor, for example, can be described as：A kind of processor bagInclude tunnel information acquiring unit, entry position determining unit, execution unit and control unit.Wherein, the title of these units existsThe restriction to the unit in itself is not constituted in the case of certain, for example, control unit is also described as " the unmanned garage of controlThe unit sailed ".
As on the other hand, present invention also provides a kind of computer-readable medium, the computer-readable medium can beIncluded in device described in above-described embodiment；Can also be individualism, and without be incorporated the device in.Above-mentioned calculatingMachine computer-readable recording medium carries one or more program, when said one or multiple programs are performed by the device so that shouldDevice：When monitoring tunnel, the tunnel information in above-mentioned tunnel is obtained；Determined by positioning signal and above-mentioned tunnel information above-mentionedThe entry position of unmanned vehicle；Above-mentioned entry position is set to original position, following monitoring step is performed：Monitor original positionThe range information of above-mentioned unmanned vehicle and the inwall in above-mentioned tunnel；Obtain the current driving speed information of above-mentioned unmanned vehicle and traveling sideAbove-mentioned unmanned vehicle is calculated in above-mentioned tunnel to information, and by above-mentioned driving speed information, transmits information and original positionInterior vehicle line；By above-mentioned tunnel information, vehicle line and range information, the current location of above-mentioned unmanned vehicle is determined；IfThe range information detected in above-mentioned current position is beyond given threshold and can receive positioning signal, then is believed by positioningNumber determine the current location information of above-mentioned unmanned vehicle；If the range information detected in above-mentioned current position is in above-mentioned setting thresholdIn value, then above-mentioned unmanned vehicle is controlled to be travelled in above-mentioned tunnel based on above-mentioned current location, and above-mentioned current location is set toOriginal position, continues executing with above-mentioned monitoring step.
Above description is only the preferred embodiment of the application and the explanation to institute's application technology principle.People in the artMember should be appreciated that invention scope involved in the application, however it is not limited to the technology of the particular combination of above-mentioned technical characteristicScheme, while should also cover in the case where not departing from foregoing invention design, is carried out by above-mentioned technical characteristic or its equivalent featureOther technical schemes formed by any combination.Such as features described above has similar work(with (but not limited to) disclosed hereinThe technical characteristic of energy carries out technical scheme formed by replacement mutually.